@InProceedings{Peng2024ICRAa,
  author    = {Yuxiang Peng and Chuchu Chen and Guoquan Huang},
  booktitle = {Proc. InternationalConference on Robotics and Automation},
  title     = {Ultrafast Square-Root Filter-based VINS},
  year      = {2024},
  address   = {Yokohama, Japan},
  month     = {May},
}

@InProceedings{Chen2024WAFR,
  author    = {Chuchu Chen and Yuxiang Peng and Guoquan Huang},
  booktitle = {Proc. 16th International Workshop on the Algorithmic Foundations of Robotics (WAFR)},
  title     = {Visual-Inertial State Estimation with Decoupled Error and State Representations},
  year      = {2024},
  address   = {Delft, Netherland},
  month     = oct,
  note      = {[submitted]},
}

@InProceedings{Peng2024ICRAb,
  author    = {Yuxiang Peng and Chuchu Chen and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {Quantized Visual-Inertial Odometry},
  year      = {2024},
  address   = {Yokohama, Japan},
  month     = may,
}

@InProceedings{Chen2024ICRA,
  author    = {Chuchu Chen and Yuxiang Peng and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {Fast and Consistent Covariance Recovery for Sliding-window Optimization-based VINS},
  year      = {2024},
  address   = {Yokohama, Japan},
  month     = may,
}


@InProceedings{Lee2024ICRA,
  author    = {Woosik Lee and Chuchu Chen and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {Degenerate Motions of Multisensor Fusion-based Navigation},
  year      = {2024},
  address   = {Yokohama, Japan},
  month     = may,
}

@InProceedings{Katragadda2024ICRA,
  author    = {Saimouli Katragadda and Woosik Lee and Yuxiang Peng and Patrick Geneva and Chuchu Chen and Chao Guo and Mingyang Li and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System},
  year      = {2024},
  address   = {Yokohama, Japan},
  month     = may,
}


@InProceedings{Hu2024ICRA,
  author    = {Jun Hu and Xiaoming Lang and Feng Zhang and Yinian Mao and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {Square-Root Inverse Filter-based GNSS-Visual-Inertial Navigation},
  year      = {2024},
  address   = {Yokohama, Japan},
  month     = may,
}



@Article{Huai2024TRO,
  author  = {Zheng Huai and Guoquan Huang},
  journal = {IEEE Transactions on Robotics},
  title   = {Consistent Parallel Estimation Framework for Visual-Inertial SLAM},
  year    = {2024},
  month   = jan,
  note    = {[revised]},
}


@Article{Yang2024IJRR,
  author  = {Yulin Yang and Patrick Geneva and Guoquan Huang},
  journal = {International Journal of Robotics Research},
  title   = {Multi-Visual-Inertial System: Analysis, Calibration and Estimation},
  year    = {2024},
  note    = {[accepted]},
}


@Article{Merrill2024IJRR,
  author  = {Nate Merrill and Patrick Geneva and Saimouli Katragadda and Chuchu Chen and Guoquan Huang},
  journal = {International Journal of Robotics Research},
  title   = {Fast and Robust Learned Single-View Depth-aided Monocular Visual-Inertial Initialization},
  year    = {2024},
  note    = {[invited paper, submitted]},
}

@InProceedings{Kouvoutsakis2024ICDL,
  author    = {Georgia Kouvoutsakis and Kleio Baxevani and Jesus Orozco and Herbert G. Tanner and Panagiotis Artemiadis and James C. Galloway and Guoquan Huang and Elena Kokkoni},
  booktitle = {IEEE International Conference on Development and Learning (ICDL)},
  title     = {A Pediatric Motor Training Environment Based on Human-swarm Interactions},
  year      = {2024},
  address   = {Austin, TX},
  month     = may,
}

@PhdThesis{Yang2024,
  author = {Yulin Yang},
  school = {Unviersity of Delaware},
  title  = {Aided Inertial Navigation System: Analysis and Algorithms},
  year   = {2024},
  type   = {phdthesis},
}

@Article{Lee2024JFR,
  author  = {Woosik Lee and Patrick Geneva and Chuchu Chen and Guoquan Huang},
  journal = {Journal of Field Robotics},
  title   = {MINS: Efficient and Robust Multisensor-aided Inertial Navigation System},
  year    = {2024},
  note    = {[submitted]},
}

@PhdThesis{Geneva2024,
  author = {Patrick Geneva},
  school = {University of Delaware},
  title  = {Efficient, Consistent, and Persistent Visual-Inertial Navigation},
  year   = {2024},
}

@PhdThesis{Merrill2024,
  author = {Nathaniel Merrill},
  school = {University of Delaware},
  title  = {Leveraging Deep Learning for Robust Visual andVisual-Inertial SLAM},
  year   = {2024},
}

@InProceedings{Merrill2023RSS,
  author    = {Nate Merrill and Patrick Geneva and Saimouli Katragadda and Chuchu Chen and Guoquan Huang},
  booktitle = {Proc. Robotics: Science and Systems (RSS)},
  title     = {Fast Monocular Visual-Inertial Initialization Leveraging Learned Single-View Depth},
  year      = {2023},
  address   = {Daegu, Republic of Korea},
  month     = jul,
  owner     = {paul},
  timestamp = {2023.05.16},
}

@InProceedings{Chen2023ICRA,
  author    = {Chuchu Chen and Patrick Geneva and Yuxiang Peng and Woosik Lee and Guoquan Huang},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
  title     = {Monocular Visual-Inertial Odometry with Planar Regularitie},
  year      = {2023},
  address   = {London, UK.},
  owner     = {paul},
  timestamp = {2023-05-01},
}

@InProceedings{Hu2023ICRA,
  author    = {Jiaxin Hu and K. Ren and X. Xu and L. Zhou and X. Lang and Y. Mao and Guoquan Huang},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
  title     = {Efficient Visual-Inertial Navigation with Point-Plane Map},
  year      = {2023},
  address   = {London, UK.},
  owner     = {paul},
  timestamp = {2023-05-01},
}

@InProceedings{Zhou2023ICRA,
  author    = {Lipu Zhou and J. Sun and Peng Ai and Fengguang Zhai and Kefei Ren and Yinian Mao and Guoquan Huang and Ziyang Meng and Michael Kaess},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
  title     = {Efficient Bundle Adjustment for Coplanar Points and Lines},
  year      = {2023},
  address   = {London, UK.},
  owner     = {paul},
  timestamp = {2023-05-01},
}

@Article{Yang2023TRO,
  author    = {Yulin Yang and Patrick Geneva and Xingxing Zuo and Guoquan Huang},
  journal   = {IEEE Transactions on Robotics},
  title     = {Online Self-Calibration for Visual-Inertial Navigation Systems: Models, Analysis and Degeneracy},
  year      = {2023},
  month     = may,
  owner     = {paul},
  timestamp = {2022.12.16},
}

@PhdThesis{Huai2023,
  author = {Huai, Zheng},
  school = {University of Delaware},
  title  = {Robocentric Visual-Inertial Localization and Mapping},
  year   = {2023},
  url    = {https://www.proquest.com/docview/2869041125?pq-origsite=gscholar&fromopenview=true&sourcetype=Dissertations & Theses},
}

@article{Baxevani2022GNC,
	title        = {Resilient Ground Vehicle Autonomous Navigation in GPS-denied Environments},
	author       = {KKleio Baxevani and Indrajeet Yadav and Yulin Yang and Mike Sebok and Herbert Tanner and Guoquan Huang},
	year         = 2022,
	journal      = {Guidance, Navigation and Control},
	volume       = 02,
	number       = 04,
	pages        = {2250020},
}

@InProceedings{Chen2022ICRA,
  author    = {Chuchu Chen and Yulin Yang and Patrick Geneva and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation (ICRA)},
  title     = {{FEJ2}: A Consistent Visual-Inertial State Estimator Design},
  year      = {2022},
  address   = {Philadelphia, PA},
  month     = may,
}

@InProceedings{Geneva2022ICRA,
  author    = {Patrick Geneva and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation (ICRA)},
  title     = {Map-based Visual-Inertial Localization: A Numerical Study},
  year      = {2022},
  address   = {Philadelphia, PA},
  month     = may,
}

@InProceedings{Hu2022ICRA,
  author    = {Jiaxin Hu and Jun Hu and Y-J. Shen and Xiaomin Lang and Bo Zang and Guoquan Huang and Yinian Mao},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
  title     = {1D-LRF Aided Visual-Inertial Odometry for High-Altitude MAV Flight},
  year      = {2022},
  address   = {Philadelphia, PA},
  month     = may,
}

@InProceedings{Lee2022ICRA,
  author    = {Woosik Lee and Patrick Geneva and Yulin Yang and Guoquan Huang},
  booktitle = {Proc. International Conference on Robotics and Automation (ICRA)},
  title     = {Tightly-coupled GNSS-aided Visual-Inertial Localization},
  year      = {2022},
  address   = {Philadelphia, PA},
  month     = may,
}

@InProceedings{Zhou2022ICRA,
  author    = {Lipu Zhou and Guoquan Huang and Yinian Mao and S. Wang and Michael Kaess},
  booktitle = {Proc. International Conference on Robotics and Automation},
  title     = {EDPLVO: Efficient Direct Point-Line Visual Odometry},
  year      = {2022},
  address   = {Philadelphia, PA},
  month     = may,
}

@InProceedings{Chen2022IROS,
  author    = {Chuchu Chen and Yulin Yang and Patrick Geneva and Woosik Lee and Guoquan Huang},
  booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
  title     = {Visual-Inertial-aided Online MAV System Identification},
  year      = {2022},
  address   = {Kyoto, Japan},
  owner     = {paul},
  timestamp = {2022-07-01},
}

@InProceedings{Merrill2022CVPR,
  author    = {Nate Merrill and Yanliang Guo and Xinyue Huang and Xingxing Zuo and Stephen Leutenegger and Liu Ren and Guoquan Huang},
  booktitle = {Proc. Conference on Computer Vision and Pattern Recognition (CVPR)},
  title     = {Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation},
  year      = {2022},
  address   = {New Orleans, LA},
  month     = jun,
  owner     = {paul},
  timestamp = {2022.03.16},
}

@Article{Zuo2022TASE,
  author    = {Xingxing Zuo and Mingming Zhang and Mengmeng Wang and Yiming Chen and Guoquan Huang and Yong Liu and Mingyang Li.},
  journal   = {IEEE Transactions on Automation Science and Engineering (T-ASE)},
  title     = {Visual-based Lifelong Kinematics and Pose Estimation for Skid-Steering Robots},
  year      = {2022},
  month     = sep,
  owner     = {paul},
  timestamp = {2022.08714},
}

@Article{Huai2022RAL,
  author    = {Zheng Huai and Guoquan Huang},
  journal   = {IEEE Robotics and Automation Letters (RA-L)},
  title     = {Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration},
  year      = {2022},
  month     = june,
  owner     = {paul},
  timestamp = {2022.06.14},
}

@Article{Zhou2022RAL,
  author    = {Lipu Zhou and Shengze Wang and Yu Jincheng and Guoquan Huang and Michael Kaess},
  journal   = {IEEE Robotics and Automation Letters (RA-L)},
  title     = {PLC-LiSLAM: LiDAR SLAM with Planes, Lines and Cylinders},
  year      = {2022},
  month     = may,
  owner     = {paul},
  timestamp = {2022.05.14},
}

@Article{Lv2022TRO,
  author    = {Jiajun Lv and Xingxing Zuo and Kewei Hu and Jinhong Xu and Guoquan Huang and Yong Liu},
  journal   = {IEEE Transactions on Robotics},
  title     = {Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems},
  year      = {2022},
  month     = apr,
  owner     = {paul},
  timestamp = {2022.04.16},
}

@Article{Yang2022RAL,
  author    = {Yang, Yulin and Chen, Chuchu and Lee, Woosik and Huang, Guoquan Paul},
  journal   = {IEEE Robotics and Automation Letters},
  title     = {Decoupled Right Invariant Error States for Consistent Visual-Inertial Navigation},
  year      = {2022},
  month     = jan,
  owner     = {paul},
  publisher = {IEEE},
  timestamp = {2022.01.14},
}

@article{Eckenhoff2021TRO,
	title        = {{MIMC-VINS}: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System},
	author       = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
	year         = 2021,
	journal      = {IEEE Transactions on Robotics},
	volume       = 37,
	number       = 5,
	pages        = {1360--1380},
	doi          = {10.1109/TRO.2021.3049445},
}

@inproceedings{Huai2021ICRA,
	title        = {Markov Parallel Tracking and Mapping for Probabilistic SLAM},
	author       = {Zheng Huai and Guoquan Huang},
	year         = 2021,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Xi'an, China},
}

@inproceedings{Lee2021ICRA,
	title        = {Efficient Multi-sensor Aided Inertial Navigation with Online Calibration},
	author       = {Woosik Lee and Yulin Yang and Guoquan Huang},
	year         = 2021,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Xi'an, China},
}

@inproceedings{Merrill2021ICRA,
	title        = {Robust Monocular Visual-Inertial Depth Completion for Embedded Systems},
	author       = {Nate Merrill and Patrick Geneva and Guoquan Huang},
	year         = 2021,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Xi'an, China},
}

@conference{Yang2021ICRAws,
	title        = {{iCalib}: Inertial Aided Multi-Sensor Calibration},
	author       = {Yang, Yulin and Lee, Woosik and Osteen, Philip and Geneva, Patrick and Zuo, Xingxing and Huang, Guoquan},
	year         = 2021,
	booktitle    = {Workshop on Visual-Inertial Navigation Systems},
}

@inproceedings{Zhu2021ICRA,
	title        = {Cooperative Visual-Inertial Odometry},
	author       = {Pengxiang Zhu and Yulin Yang and Wei Ren and Guoquan Huang},
	year         = 2021,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Xi'an, China},
	pages        = {13135--13141},
	organization = {IEEE},
}

@InProceedings{Zhu2021IROS,
  author       = {Zhu, Pengxiang and Geneva, Patrick and Ren, Wei and Huang, Guoquan},
  booktitle    = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title        = {Distributed Visual-Inertial Cooperative Localization},
  year         = {2021},
  organization = {IEEE},
  pages        = {8714--8721},
}

@inproceedings{Zuo2021ICRA,
	title        = {CodeVIO: Visual-Inertial Odometry with Learned Optimizable Dense Depth},
	author       = {Xingxing Zuo and Nate Merrill and Wei Li and Yong Liu and Marc Pollefeys and Guoquan Huang},
	year         = 2021,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Xi'an, China},
}

@phdthesis{Eckenhoff2020,
	title        = {Towards Robust Visual-Inertial Estimation},
	author       = {Kevin Eckenhoff},
	year         = 2020,
	school       = {{University of Delaware}},
	timestamp    = {2020-09-02},
}

@inproceedings{Eckenhoff2020ICRA,
	title        = {Schmidt-EKF-based  Visual-Inertial Moving Object Tracking},
	author       = {Kevin Eckenhoff and Patrick Geneva and Nathaniel Merrill and Guoquan Huang},
	year         = 2020,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Paris, France},
}

@inproceedings{Geneva2020ICRA,
	title        = {{OpenVINS:} A Research Platform for Visual-Inertial Estimation},
	author       = {Patrick Geneva and Kevin Eckenhoff and Woosik Lee and Yulin Yang and Guoquan Huang},
	year         = 2020,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Paris, France},
	url          = {https://github.com/rpng/open_vins},
}

@inproceedings{Geneva2020IROS,
	title        = {Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization},
	author       = {Patrick Geneva and Nathaniel Merrill and Yulin Yang and Chuchu Chen and Woosik Lee and Guoquan Huang},
	year         = 2020,
	booktitle    = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Las Vegas, NV},
}

@inproceedings{Lee2020ICRA,
	title        = {Intermittent GPS-aided VIO: Online Initialization and Calibration},
	author       = {Woosik Lee and Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
	year         = 2020,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Paris, France},
}

@inproceedings{Lee2020IROS,
	title        = {Visual-Inertial-Wheel Odometry with Online Calibration},
	author       = {Woosik Lee and Kevin Eckenhoff and Yulin Yang and Patrick Geneva and Guoquan Huang},
	year         = 2020,
	booktitle    = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Las Vegas, NV},
}

@conference{Yadav2020MED,
	title        = {Motion Planning and Visual-Inertial Target Tracking for UAV-based Radiation Detection},
	author       = {Indrajeet Yadav and Kevin Eckenhoff and Guoquan Huang and Herbert Tanner.},
	year         = 2020,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Saint-Raphael, France},
}

@inproceedings{Yang2020ICRA,
	title        = {Analytic Combined IMU Integrator for Visual-Inertial Navigation},
	author       = {Yulin Yang and B. P. W. Babu and Chuchu Chen and Guoquan Huang and Liu Ren},
	year         = 2020,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Paris, France},
}

@inproceedings{Yang2020RSS,
	title        = {Online IMU Intrinsic Calibration: Is It Necessary?},
	author       = {Yulin Yang and Patrick Geneva and Xingxing Zuo and Guoquan Huang},
	year         = 2020,
	booktitle    = {Proc. of the Robotics: Science and Systems},
	address      = {Paris, France},
}

@inproceedings{Zuo2020IROS,
	title        = {LIC-Fusion 2.0: LiDAR-Inertial-Camera Odometry with Sliding-Window Plane-Feature Tracking},
	author       = {Xingxing Zuo and Yulin Yang and Patrick Geneva and Jiajun Lv and Yong Liu and Guoquan Huang and Marc Pollefeys},
	year         = 2020,
	booktitle    = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Las Vegas, NV},
}

@article{Zuo2020JFR,
	title        = {Multi-modal Localization: Stereo over LiDAR Map},
	author       = {X. Zuo and W. Ye and Y. Yang and R. Zheng and T. Vidal-Calleja and G. Huang and Y. Liu},
	year         = 2020,
	month        = dec,
	journal      = {Journal of Field Robotics},
}

@inproceedings{Eckenhoff2019ICRAa,
	title        = {Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration},
	author       = {Kevin Eckenhoff and Patrick Geneva and Jesse Bloecker and Guoquan Huang},
	year         = 2019,
	month        = may,
	booktitle    = {Proc. International Conference on Robotics and Automation},
	address      = {Montreal, Canada},
}

@inproceedings{Eckenhoff2019ICRAb,
	title        = {Sensor-Failure-Resilient Multi-IMU Visual-Inertial Navigation},
	author       = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
	year         = 2019,
	month        = may,
	booktitle    = {Proc. International Conference on Robotics and Automation},
	address      = {Montreal, Canada},
}

@article{Eckenhoff2019IJRR,
	title        = {Closed-form Preintegration Methods for Graph-based Visual-Inertial Navigation},
	author       = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
	year         = 2019,
	journal      = {International Journal of Robotics Research},
	volume       = 38,
	number       = 5,
	pages        = {563--586},
}

@article{Eckenhoff2019RAL,
	title        = {Tightly-Coupled Visual-Inertial Localization and {3D} Rigid-Body Target Tracking},
	author       = {Kevin Eckenhoff and Yulin Yang and Patrick Geneva and Guoquan Huang},
	year         = 2019,
	journal      = {IEEE Robotics and Automation Letters (RA-L)},
	volume       = 4,
	number       = 2,
	pages        = {1541--1548},
}

@inproceedings{Geneva2019CVPR,
	title        = {An Efficient Schmidt-EKF for {3D} Visual-Inertial {SLAM}},
	author       = {Patrick Geneva and James Maley and Guoquan Huang},
	year         = 2019,
	month        = jun,
	booktitle    = {Proc. Conference on Computer Vision and Pattern Recognition (CVPR)},
	address      = {Long Beach, CA},
}

@inproceedings{Geneva2019ICRA,
	title        = {A Linear-Complexity {EKF} for Visual-Inertial Navigation with Loop Closures},
	author       = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
	year         = 2019,
	month        = may,
	booktitle    = {Proc. International Conference on Robotics and Automation},
	address      = {Montreal, Canada},
}

@conference{Geneva2019IROSws,
	title        = {{OpenVINS:} A Research Platform for Visual-Inertial Estimation},
	author       = {Patrick Geneva and Kevin Eckenhoff and Woosik Lee and Yulin Yang and Guoquan Huang},
	year         = 2019,
	month        = nov,
	booktitle    = {{IROS} 2019 Workshop on Visual-Inertial Navigation: Challenges and Applications},
	address      = {Macau, China},
	url          = {https://github.com/rpng/open_vins},
}

@article{Huai2019IJRR,
	title        = {Robocentric Visual-Inertial Odometry},
	author       = {Zheng Huai and Guoquan Huang},
	year         = 2019,
	month        = apr,
	journal      = {International Journal of Robotics Research},
}

@inproceedings{Huang2019ICRA,
	title        = {Visual-Inertial Navigation: A Concise Review},
	author       = {Guoquan Huang},
	year         = 2019,
	month        = may,
	booktitle    = {Proc. International Conference on Robotics and Automation},
	address      = {Montreal, Canada},
}

@inproceedings{Merrill2019IROS,
	title        = {{CALC2.0}: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure},
	author       = {Nathaniel Merrill and Guoquan Huang},
	year         = 2019,
	month        = nov,
	booktitle    = {2019 International Conference on Intelligent Robots and Systems (IROS)},
	address      = {Macau, China},
}

@inproceedings{Yang2019ICRAa,
	title        = {Aided Inertial Navigation: Unified Feature Representations and Observability Analysis},
	author       = {Yulin Yang and Guoquan Huang},
	year         = 2019,
	month        = may,
	booktitle    = {Proc. International Conference on Robotics and Automation},
	address      = {Montreal, Canada},
}

@inproceedings{Yang2019ICRAb,
	title        = {Tightly-Coupled Aided Inertial Navigation with Point and Plane Features},
	author       = {Yulin Yang and Patrick Geneva and Xingxing Zuo and Kevin Eckenhoff and Yong Liu and Guoquan Huang},
	year         = 2019,
	month        = may,
	booktitle    = {Proc. International Conference on Robotics and Automation},
	address      = {Montreal, Canada},
}

@inproceedings{Yang2019IROS,
	title        = {Visual-Inertial Navigation with Point and Line Features},
	author       = {Yulin Yang and Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
	year         = 2019,
	month        = nov,
	booktitle    = {Proc. International Conference on Intelligent Robots and Systems (IROS)},
	address      = {Macau, China},
}

@article{Yang2019RAL,
	title        = {Degenerate Motion Analysis for Aided {INS} with Online Spatial and Temporal Calibration},
	author       = {Yulin Yang and Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
	year         = 2019,
	journal      = {IEEE Robotics and Automation Letters (RA-L)},
	volume       = 4,
	number       = 2,
	pages        = {2070--2077},
}

@article{Yang2019TRO,
	title        = {Observability Analysis of Aided INS with Heterogeneous Features of Points, Lines and Planes},
	author       = {Yulin Yang and Guoquan Huang},
	year         = 2019,
	month        = dec,
	journal      = {IEEE Transactions on Robotics},
	volume       = 35,
	number       = 6,
	pages        = {399--1418},
}

@inproceedings{Zuo2019IROS,
	title        = {{LIC-Fusion}: LiDAR-Inertial-Camera Odometry},
	author       = {Xingxing Zuo and Patrick Geneva and Woosik Lee and Yong Liu and Guoquan Huang},
	year         = 2019,
	month        = nov,
	booktitle    = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Macau, China},
}

@inproceedings{Zuo2019ISRR,
	title        = {Visual-Inertial Localization for Skid-Steering Robots with Kinematic Constraints},
	author       = {Xingxing Zuo and Mingming Zhang and Yiming Chen and Yong liu and Guoquan Huang and Mingyang Li.},
	year         = 2019,
	month        = oct,
	booktitle    = {Proc. of the International Symposium on Robotics Research (ISRR)},
	address      = {Hanoi, Vietnam},
}

@article{Zuo2019RAL,
	title        = {Visual-Inertial Localization with Prior LiDAR Map Constraints},
	author       = {Xingxing Zuo and Patrick Geneva and Yulin Yang and Wenlong Ye and Yong Liu and Guoquan Huang},
	year         = 2019,
	journal      = {IEEE Robotics and Automation Letters (RA-L)},
}

@conference{Eckenhoff2018ICRAws,
	title        = {Dynamic Target Interception in Cluttered Environments},
	author       = {Kevin Eckenhoff and Indrajeet Yadav and Guoquan Huang and Herbert Tanner},
	year         = 2018,
	month        = may,
	booktitle    = {RT-DUNE ICRA 2018 Workshop},
	address      = {Brisbane, Australia},
}

@inproceedings{Geneva2018ICRA,
	title        = {Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization},
	author       = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
	year         = 2018,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Brisbane, Australia},
}

@inproceedings{Geneva2018IROS,
	title        = {{LIPS}: LiDAR-Inertial 3D Plane SLAM},
	author       = {Patrick Geneva and Kevin Eckenhoff and Yulin Yang and Guoquan Huang},
	year         = 2018,
	month        = oct,
	booktitle    = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Madrid, Spain},
}

@article{Han2018AURO,
	title        = {Sequence-Based Sparse Optimization Methods for Long-Term Loop Closure Detection in Visual {SLAM}},
	author       = {Fei Han and Hua Wang and Guoquan Huang and Hao Zhang},
	year         = 2018,
	journal      = {Autonomous Robots},
	volume       = 42,
	number       = 7,
	pages        = {1323--1335},
}

@inproceedings{Huai2018IROS,
	title        = {Robocentric Visual-Inertial Odometry},
	author       = {Zheng Huai and Guoquan Huang},
	year         = 2018,
	month        = oct,
	booktitle    = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Madrid, Spain},
}

@incollection{Huang2018RR,
	title        = {Optimal-State-Constraint EKF for Visual-Inertial Navigation},
	author       = {Guoquan Huang and Kevin Eckenhoff and John Leonard},
	year         = 2018,
	booktitle    = {Robotics Research},
	publisher    = {Springer International Publishing},
	series       = {Springer Proceedings in Advanced Robotics},
	volume       = 1,
	doi          = {10.1007/978-3-319-51532-8},
	editor       = {Bicchi, Antonio and Burgard, Wolfram},
}

@inproceedings{Maley2018IROS,
	title        = {Unit Quaternion-based Parameterization for Point Features in Visual Navigation},
	author       = {James Maley and Guoquan Huang},
	year         = 2018,
	month        = oct,
	booktitle    = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Madrid, Spain},
}

@inproceedings{Merrill2018RSS,
	title        = {Lightweight Unsupervised Deep Loop Closure},
	author       = {Nathaniel Merrill and Guoquan Huang},
	year         = 2018,
	month        = jun,
	booktitle    = {Proc. of Robotics: Science and Systems (RSS)},
	address      = {Pittsburgh, PA},
}

@inproceedings{Yang2018ICRA,
	title        = {Aided Inertial Navigation with Geometric Features: Observability Analysis},
	author       = {Yulin Yang and Guoquan Huang},
	year         = 2018,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Brisbane, Australia},
}

@inproceedings{Yang2018RSSws,
	title        = {Attack-Resilient Map-based Localization},
	author       = {Yulin Yang and Guoquan Huang},
	year         = 2018,
	month        = jun,
	booktitle    = {RSS Workshop on Adversarial Robotics},
	address      = {Pittsburgh, PA},
}

@inproceedings{Eckenhoff2017ICRA,
	title        = {Direct Visual-Inertial Navigation with Analytical Preintegration},
	author       = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
	year         = 2017,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Singapore},
	pages        = {1429--1435},
}

@conference{Geneva2017PPNIV,
	title        = {Asynchronous Multi-Sensor Fusion for {3D} Mapping and Localization},
	author       = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang},
	year         = 2017,
	month        = sep,
	booktitle    = {Proc. of the 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles},
	address      = {Vancouver, Canada},
}

@article{Huang2017AR,
	title        = {Particle Filtering with Analytically Guided Sampling},
	author       = {Guoquan Huang},
	year         = 2017,
	journal      = {Advanced Robotics},
	volume       = 31,
	number       = 17,
	pages        = {932--945},
}

@article{Huang2017SCL,
	title        = {Towards Consistent Filtering for Discrete-Time Partially-Observable Nonlinear Systems},
	author       = {Guoquan Huang},
	year         = 2017,
	month        = aug,
	journal      = {Systems and Control Letters},
	volume       = 106,
	pages        = {87--95},
}

@article{Latif2017RAS,
	title        = {Sparse Optimization for Robust and Efficient Loop Closing},
	author       = {Yasir Latif and Guoquan Huang and John Leonard and Jose Neira},
	year         = 2017,
	month        = jul,
	journal      = {Robotics and Autonomous Systems},
	volume       = 93,
	pages        = {13--26},
}

@inproceedings{LI2017ACC,
	title        = {Gyro-Aided Camera-Odometer Online Calibration and Localization},
	author       = {Dongxuan Li and Kevin Eckenhoff and Kanzhi Wu and Yue Wang and Rong Xiong and Guoquan Huang},
	year         = 2017,
	month        = may,
	booktitle    = {Proc. of the American Control Conference},
	address      = {Seattle, WA},
	pages        = {3579--3586},
}

@conference{Maley2017JNC,
	title        = {Light {EKF}-Based Visual-Inertial Navigation},
	author       = {James Maley and Kevin Eckenhoff and Guoquan Huang},
	year         = 2017,
	month        = jun,
	booktitle    = {Joint Navigation Conference},
	address      = {Dayton, OH},
}

@techreport{Maley2017TR,
	title        = {Generalized Optimal-State-Constraint Extended Kalman Filter {(OSC-EKF)}},
	author       = {James Maley and Kevin Eckenhoff and Guoquan Huang},
	year         = 2017,
	month        = feb,
	number       = {ARL-TR-7948},
	institution  = {U.S. Army Research Laboratory},
}

@inproceedings{Yang2017ICRA,
	title        = {Acoustic-Inertial Underwater Navigation},
	author       = {Yulin Yang and Guoquan Huang},
	year         = 2017,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Singapore},
	pages        = {4927--4933},
}

@inproceedings{Yang2017IROS,
	title        = {Null-Space-based Marginalization: Analysis and Algorithm},
	author       = {Yulin Yang and James Maley and Guoquan Huang},
	year         = 2017,
	month        = sep,
	booktitle    = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Vancouver, Canada},
	pages        = {6749--6755},
}

@inproceedings{Yang2017ISRR,
	title        = {Map-Based Localization Under Adversarial Attacks},
	author       = {Yulin Yang and Guoquan Huang},
	year         = 2017,
	month        = dec,
	booktitle    = {Proc. of the International Symposium on Robotics Research},
	address      = {Puerto Varas, Chile},
}

@inproceedings{Zuo2017IROS,
	title        = {Robust Visual {SLAM} with Point and Line Features},
	author       = {X. Zuo and J. Xie and Y. Liu and Guoquan Huang},
	year         = 2017,
	month        = sep,
	booktitle    = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Vancouver, Canada},
	pages        = {1775--1782},
}

@inproceedings{Corcoran2016ICRA,
	title        = {Unsupervised Trajectory Compression},
	author       = {Padraig Corcoran and Peter Mooney and Guoquan Huang},
	year         = 2016,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Stockholm, Sweden},
}

@inproceedings{Eckenhoff2016IROS,
	title        = {Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based {SLAM}},
	author       = {Kevin Eckenhoff and Liam Paull and Guoquan Huang},
	year         = 2016,
	month        = oct,
	booktitle    = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Daejeon, Korea},
	pages        = {3275--3282},
}

@conference{Eckenhoff2016RSSws,
	title        = {Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based {SLAM}},
	author       = {Kevin Eckenhoff and Liam Paull and Guoquan Huang},
	year         = 2016,
	month        = jun,
	booktitle    = {Proc. of the RSS Workshop on Geometry and Beyond: Representations, Physics, and Scene Understanding for Robotics},
	address      = {Ann Arbor, MI},
}

@inproceedings{Eckenhoff2016WAFR,
	title        = {High-Accuracy Preintegration for Visual-Inertial Navigation},
	author       = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang},
	year         = 2016,
	month        = dec,
	booktitle    = {Proc. of the International Workshop on the Algorithmic Foundations of Robotics},
	address      = {San Francisco, CA},
}

@inproceedings{Paull2016ICRA,
	title        = {A Unified Resource-Constrained Framework for Graph {SLAM}},
	author       = {Liam Paull and Guoquan Huang and John Leonard},
	year         = 2016,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Stockholm, Sweden},
	pages        = {1346--1353},
}

@article{Zhang2016AURO,
	title        = {An Optimal Data Association Method based on the Minimum Weighted Bipartite Perfect Matching},
	author       = {Xinzheng Zhang and Ahmad B. Rad and Guoquan Huang and Yiu-Kwong Wong},
	year         = 2016,
	month        = jan,
	journal      = {Autonomous Robots},
	volume       = 40,
	number       = 1,
	pages        = {77--91},
	doi          = {10.1007/s10514-015-9439-y},
}

@inproceedings{Eckenhoff2015CCC,
	title        = {State-Transition and Observability Constrained {EKF} for Multi-robot Cooperative Localization},
	author       = {Kevin Eckenhoff and Guoquan Huang},
	year         = 2015,
	month        = jul,
	booktitle    = {Proc. of the Chinese Control Conference},
	address      = {Hangzhou, China},
	pages        = {7404--7410},
	doi          = {10.1109/ChiCC.2015.7260813},
}

@article{Huang2014TRO,
	title        = {A Bank of Maximum A Posteriori {(MAP)} Estimators for Target Tracking},
	author       = {Guoquan Huang and Ke Zhou and Nikolas Trawny and Stergios I. Roumeliotis},
	year         = 2015,
	month        = jan,
	journal      = {IEEE Transactions on Robotics},
	volume       = 31,
	number       = 1,
	pages        = {85--103},
	doi          = {10.1109/TRO.2014.2378432},
}

@inproceedings{Huang2015ISRR,
	title        = {Optimal-State-Constraint {EKF} for Visual-Inertial Navigation},
	author       = {Guoquan Huang and Kevin Eckenhoff and John Leonard},
	year         = 2015,
	month        = sep,
	booktitle    = {Proc. of the International Symposium on Robotics Research},
	address      = {Sestri Levante, Italy},
}

@article{Huang2015RAS,
	title        = {Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking},
	author       = {Guoquan Huang and Michael Kaess and John Leonard},
	year         = 2015,
	month        = jul,
	journal      = {Robotics and Autonomous Systems},
	volume       = 69,
	pages        = {52--67},
	doi          = {10.1016/j.robot.2014.08.007},
}

@inproceedings{Paull2015ICRA,
	title        = {Communication-Constrained Multi-AUV Cooperative SLAM},
	author       = {Liam Paull and Guoquan Huang and Mae Seto and John Leonard},
	year         = 2015,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Seattle, WA},
	pages        = {509--516},
	doi          = {10.1109/ICRA.2015.7139227},
}

@inproceedings{Steiner2015ICRA,
	title        = {Location Utility-based Map Reduction},
	author       = {Ted Steiner and Guoquan Huang and John Leonard},
	year         = 2015,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Seattle, WA},
	pages        = {479--486},
	doi          = {10.1109/ICRA.2015.7139223},
}

@inproceedings{Huang2014ICRA,
	title        = {Towards Consistent Visual-Inertial Navigation},
	author       = {Guoquan Huang and Michael Kaess and John Leonard},
	year         = 2014,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Hong Kong, China},
	pages        = {4926--4933},
	doi          = {10.1109/ICRA.2014.6907581},
}

@conference{Latif2014ICRAws,
	title        = {Applying Sparse l1 Optimization to Problems in Robotics},
	author       = {Yasir Latif and Guoquan Huang and John Leonard and Jose Neira},
	year         = 2014,
	month        = jun,
	booktitle    = {Proc. of the Long Term Autonomy Workshop at ICRA 2014},
	address      = {Hong Kong, China},
}

@inproceedings{Latif2014RSS,
	title        = {An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation},
	author       = {Yasir Latif and Guoquan Huang and John Leonard and Jose Neira},
	year         = 2014,
	month        = jul,
	booktitle    = {Proc. of the Robotics: Science and Systems Conference},
	address      = {Berkeley, CA},
}

@inproceedings{Rosen2014ICRA,
	title        = {Inference Over Heterogeneous Finite-/Infinite-Dimensional Systems Using Factor Graphs and Gaussian Processes},
	author       = {David Rosen and Guoquan Huang and John Leonard},
	year         = 2014,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Hong Kong, China},
	pages        = {1261--1268},
	doi          = {10.1109/ICRA.2014.6907015},
}

@inproceedings{Wei2014IROS,
	title        = {Visibility-based Motion Planning for Active Target Tracking and Localization},
	author       = {Hongchuan Wei and Wenjie Lu and Pingping Zhu and Guoquan Huang and John Leonard and Silvia Ferrari},
	year         = 2014,
	month        = sep,
	booktitle    = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {Chicago, IL},
	pages        = {76--82},
	doi          = {10.1109/IROS.2014.6942543},
}

@inproceedings{Huang2013ACC,
	title        = {On Filter Consistency of Discrete-time Nonlinear Systems with Partial-state Measurements},
	author       = {Guoquan Huang and Stergios I. Roumeliotis},
	year         = 2013,
	month        = jun,
	booktitle    = {Proc. of the American Control Conference},
	address      = {Washington, DC},
	pages        = {5468--5475},
	doi          = {10.1109/ACC.2013.6580693},
}

@inproceedings{Huang2013ECMRa,
	title        = {Consistent Sparsification for Graph Optimization},
	author       = {Guoquan Huang and Michael Kaess and John Leonard},
	year         = 2013,
	month        = sep,
	booktitle    = {Proc. of the European Conference on Mobile Robots},
	address      = {Barcelona, Spain},
	pages        = {150--157},
	doi          = {10.1109/ECMR.2013.6698835},
}

@inproceedings{Huang2013ECMRb,
	title        = {Unscented {iSAM}: A Consistent Incremental Solution to Cooperative Localization and Target Tracking},
	author       = {Guoquan Huang and Robert Truax and Michael Kaess and John Leonard},
	year         = 2013,
	month        = sep,
	booktitle    = {Proc. of the European Conference on Mobile Robots},
	address      = {Barcelona, Spain},
	pages        = {248--254},
	doi          = {10.1109/ECMR.2013.6698850},
}

@inproceedings{Huang2013ICASSP,
	title        = {Analytically-Selected Multi-Hypothesis Incremental {MAP} Estimation},
	author       = {Guoquan Huang and Michael Kaess and John Leonard and Stergios I. Roumeliotis},
	year         = 2013,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Acoustics, Speech and Signal Processing},
	address      = {Vancouver, Canada},
	pages        = {6481--6485},
	doi          = {10.1109/ICASSP.2013.6638914},
}

@inproceedings{Huang2013ICRA,
	title        = {Analyticlly-Guided-Sampling Particle Filter Applied to Range-only Target Tracking},
	author       = {Guoquan Huang and Stergios I. Roumeliotis},
	year         = 2013,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Karlsruhe, Germany},
	pages        = {3168--3175},
	doi          = {10.1109/ICRA.2013.6631018},
}

@TechReport{Huang2013TR,
  author      = {Guoquan Huang},
  institution = {MIT Computer Science and Artificial Intelligence Laboratory (CSAIL)},
  title       = {Towards Consistent Visual-Inertial Navigation},
  year        = {2013},
  month       = sep,
  url         = {http://people.csail.mit.edu/ghuang/paper/tr/stocvins.pdf},
}

@article{Huang2013TRO,
	title        = {A Quadratic-Complexity Observability-Constrained Unscented {Kalman} Filter for {SLAM}},
	author       = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
	year         = 2013,
	month        = oct,
	journal      = {IEEE Transactions on Robotics},
	volume       = 29,
	number       = 5,
	pages        = {1226--1243},
	doi          = {10.1109/TRO.2013.2267991},
}

@phdthesis{Huang2012thesis,
	title        = {Improving the Consistency of Nonlinear Estimators: Analysis, Algorithms, and Applications},
	author       = {Guoquan Huang},
	year         = 2012,
	url          = {https://conservancy.umn.edu/handle/11299/146717},
	school       = {Department of Computer Science and Engineering, University of Minnesota},
}

@article{Huang2011AURO,
	title        = {Observability-based Consistent {EKF} Estimators for Multi-robot Cooperative Localization},
	author       = {Guoquan Huang and Nikolas Trawny and Anastasios I. Mourikis and Stergios I. Roumeliotis},
	year         = 2011,
	month        = jan,
	journal      = {Autonomous Robots},
	volume       = 30,
	number       = 1,
	pages        = {99--122},
	doi          = {10.1007/s10514-010-9207-y},
}

@inproceedings{Huang2011ICRA,
	title        = {Bearing-only Tracking Using a Bank of {MAP} Estimators},
	author       = {Guoquan Huang and Ke X. Zhou and Nikolas Trawny and Stergios I. Roumeliotis},
	year         = 2011,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Shanghai, China},
	pages        = {4998--5005},
	doi          = {10.1109/ICRA.2011.5980515},
}

@inproceedings{Huang2011IROS,
	title        = {An Observability Constrained Sliding Window Filter for {SLAM}},
	author       = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
	year         = 2011,
	month        = sep,
	booktitle    = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address      = {San Francisco, CA},
	pages        = {65--72},
	doi          = {10.1109/IROS.2011.6095161},
}

@techreport{Huang2011TechUMN,
	title        = {An Observability-Constrained Sliding-Window Filter for SLAM},
	author       = {Guoquan Huang and Stergios I. Roumeliotis},
	year         = 2011,
	month        = feb,
	url          = {http://www.cs.umn.edu/~ghuang/paper/TR_OCMMAP.pdf},
	institution  = {UMN Multiple Autonomous Robotic Systems (MARS) Laboratory},
}

@inproceedings{Huang2010ACC,
	title        = {A Bank of {MAP} Estimators for Single-Sensor Range-only Target Tracking},
	author       = {Guoquan Huang and Ke X. Zhou and Nikolas Trawny and Stergios I. Roumeliotis},
	year         = 2010,
	month        = jun,
	booktitle    = {Proc. of the American Control Conference},
	address      = {Baltimore, MD},
	pages        = {6974--6980},
	doi          = {10.1109/ACC.2010.5531337},
}

@article{Huang2010IJRR,
	title        = {Observability-based Rules for Designing Consistent {EKF SLAM} Estimators},
	author       = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
	year         = 2010,
	month        = apr,
	journal      = {International Journal of Robotics Research},
	volume       = 29,
	number       = 5,
	pages        = {502--528},
	doi          = {10.1177/0278364909353640},
}

@TechReport{Huang2010TR,
  author      = {Guoquan Huang and Stergios I. Roumeliotis},
  institution = {UMN Multiple Autonomous Robotic Systems (MARS) Laboratory},
  title       = {Target Tracking Using a Bank of MAP Estimators},
  year        = {2010},
  month       = aug,
  doi         = {http://people.csail.mit.edu/ghuang/paper/tr/TR_BMAPTT.pdf},
}

@incollection{Huang2009ERB,
	title        = {A First-Estimates Jacobian {EKF} for Improving {SLAM} Consistency},
	author       = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
	year         = 2009,
	booktitle    = {Experimental Robotics},
	publisher    = {Springer Berlin Heidelberg},
	series       = {Springer Tracts in Advanced Robotics},
	volume       = 54,
	pages        = {373--382},
	doi          = {10.1007/978-3-642-00196-3_43},
	editor       = {Oussama Khatib and Vijay Kumar and George J. Pappas},
}

@inproceedings{Huang2009ICRA,
	title        = {On the Complexity and Consistency of {UKF}-based {SLAM}},
	author       = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
	year         = 2009,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Kobe, Japan},
	pages        = {4401--4408},
	doi          = {10.1109/ROBOT.2009.5152793},
}

@inproceedings{Huang2009RSS,
	title        = {On the Consistency of Multi-robot Cooperative Localization},
	author       = {Guoquan Huang and Nikolas Trawny and Anastasios I. Mourikis and Stergios I. Roumeliotis},
	year         = 2009,
	month        = jun,
	booktitle    = {Proc. of the Robotics: Science and Systems},
	address      = {Seattle, WA},
	pages        = {65--72},
}

@TechReport{Huang2009TR,
  author      = {Guoquan Huang and Nikolas Trawny and Anastasios I. Mourikis and Stergios I. Roumeliotis},
  institution = {UMN Multiple Autonomous Robotic Systems (MARS) Laboratory},
  title       = {On the Consistency of Multi-robot Cooperative Localization},
  year        = {2009},
  month       = jan,
  url         = {http://www-users.cs.umn.edu/~ghuang/paper/TR_CL_Consistency.pdf},
}

@inproceedings{Huang2008ICRA,
	title        = {Analysis and Improvement of the Consistency of Extended {K}alman Filter-Based {SLAM}},
	author       = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
	year         = 2008,
	month        = may,
	booktitle    = {Proc. of the IEEE International Conference on Robotics and Automation},
	address      = {Pasadena, CA},
	pages        = {473--479},
	doi          = {10.1109/ROBOT.2008.4543252},
}

@inproceedings{Huang2008IFAC,
	title        = {An Optimal Graph Theoretic Approach to Data Association in {SLAM}},
	author       = {Guoquan Huang and Xinzheng Zhang and Ahmad B. Rad and Yiu-Kwong Wong},
	year         = 2008,
	month        = jul,
	booktitle    = {Proc. of the International Federation of Automatic Control},
	address      = {Seoul, Korea},
	volume       = 17,
	pages        = {14669--14674},
	doi          = {10.3182/20080706-5-KR-1001.02484},
}

@inproceedings{Huang2008ISER,
	title        = {A First-Estimates {J}acobian {EKF} for Improving {SLAM} Consistency},
	author       = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis},
	year         = 2008,
	month        = jul,
	booktitle    = {Proc. of the 11th International Symposium on Experimental Robotics},
	address      = {Athens, Greece},
}


@article{Huang2007AR,
	title        = {Heterogeneous Multisensor Fusion for Mapping Dynamic Environments},
	author       = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong and Ying-Leung Ip},
	year         = 2007,
	journal      = {Advanced Robotics},
	volume       = 21,
	number       = {5-6},
	pages        = {661--688},
	doi          = {10.1163/156855307780108268},
}

@article{Zhang2007JINT,
	title        = {A Comparative Study of Three Mapping Methodologies},
	author       = {Xinzheng Zhang and Ahmad B. Rad and Yiu-Kwong Wong and Guoquan Huang and Y.L. Ip and K.M. Chow},
	year         = 2007,
	journal      = {Journal of Intelligent and Robotic Systems},
	volume       = 49,
	number       = 4,
	pages        = {385--395},
	doi          = {10.1007/s10846-007-9143-z},
}

@article{Huang2006IJARS,
	title        = {A New Solution to Map Dynamic Indoor Environments},
	author       = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong},
	year         = 2006,
	journal      = {International Journal of Advanced Robotic Systems},
	volume       = 3,
	number       = 2,
	pages        = {199--210},
	doi          = {10.5772/5737},
}

@inproceedings{Huang2005ICAR,
	title        = {Online {SLAM} in dynamic environments},
	author       = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong},
	year         = 2005,
	month        = jul,
	booktitle    = {Proc. of the International Conference on Advanced Robotics},
	address      = {Seattle, WA},
	pages        = {262--267},
	doi          = {10.1109/ICAR.2005.1507422},
}

@inproceedings{Huang2004CICMA,
	title        = {Incorporate Motion Tracking into Map Building in Dynamic Indoor Environments},
	author       = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong},
	year         = 2004,
	month        = jul,
	booktitle    = {Proc. of the International Conference on Computational Intelligence for Modelling, Control \& Automation},
	pages        = {241--251},
	url          = {http://people.csail.mit.edu/ghuang/paper/hk/cimca04.pdf},
}

@inproceedings{Huang2004RAM,
	title        = {SLAM with MTT: theory and initial results [mobile robot localisation]},
	author       = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong and Y.L. Ip},
	year         = 2004,
	month        = dec,
	booktitle    = {Proc. of the IEEE Conference on Robotics, Automation and Mechatronics},
	volume       = 2,
	pages        = {834--839},
	doi          = {10.1109/RAMECH.2004.1438026},
}